A Robust Position Tracking Strategy for Robot Manipulators Using Adaptive Second Order Sliding Mode Algorithm and Nonsingular Sliding Mode Control

Nowadays, robot manipulators play an essential role in an industrial environment. Along with the expansion of robot applications, robot control has attracted the attention of many researchers. This paper proposes a robust control method that handles robot manipulator systems' lumped uncertainty and unknown fault. In this paper, a non-singular sliding mode controller is also applied to keep the robot tracking the desired trajectory under the adverse effects of the lumped uncertainty and unknown fault. In addition, we suggest an adaptive second-order sliding mode algorithm to minimize the controller's chattering phenomenon and eliminate the impact of the above uncertainty and fault. Furthermore, the effectiveness of the suggested controller is obtained via numerical simulations on a 2-link robot. The proposed controller creates a continuous control signal with high accuracy, less chattering problem, finite-time convergence, and more robustness.